基于虚拟障碍物的IGV转弯路径规划方法  

Real-time planning method of turning path for IGVs based on virtual obstacle

作　　者：洪槐斌 刘栋青 姚文华 王斌 HONG Huaibin;LIU Dongqing;YAO Wenhua;WANG Bin(CRSC Research&Design Institute Group Co.,Ltd.,Beijing 100070,China;Beijing Metro Operation Administration Co.,Ltd.,Beijing 100071,China)

机构地区：[1]北京全路通信信号研究设计院集团有限公司,北京100070 [2]北京市轨道交通运营管理有限公司,北京100071

出　　处：《机车电传动》2025年第1期139-145,共7页Electric Drive for Locomotives

基　　金：国家重点研发计划资助项目(2022YFB4300501)。

摘　　要：针对智能导引车(Intelligent Guided Vehicle,IGV)转弯进入铁路道口的路径安全性问题,文章提出了一种基于三阶贝赛尔曲线的转弯路径实时规划方法。首先根据全局路径和道路条件在道口前方预设一个用于路径规划的虚拟障碍物;然后利用虚拟障碍物信息确定贝赛尔曲线的控制点选取范围,得到满足曲率约束条件的转弯轨迹簇;最后以最小曲率为目标,选取最优转弯轨迹。仿真结果表明,采用文章所提方法可得到平顺的转弯路径,路径点最大曲率不超过0.12 m^(-1),满足IGV行驶转弯半径要求,而且能有效调整IGV进入铁路道口前姿态,保证行驶的安全性。In order to improve the safety of intelligent guided vehicles(IGVs)operating on curves approaching railway crossings,this paper proposes a real-time planning method for turning paths based on cubic Bezier curves.Firstly,a virtual obstacle for path planning was preset ahead of a crossing,based on the global path and road conditions.Then,the information of the virtual obstacle is used to define the selection range of control points for Bezier curves,resulting in a cluster of turning paths that satisfied the curvature constraints.Finally,the minimum curvature of the path points was used as the criterion to identify the optimal turning path.In the simulations,the proposed method generated smooth turning paths,with the maximum curvature of the path points not exceeding 0.12 m^(-1),which satisfies the turning radius requirements for IGV operation.Additionally,these results can effectively support the attitude adjustment of IGVs before entering railway crossings,thereby enhancing operational safety.

关 键 词：IGV 路径规划 贝塞尔曲线 最小曲率 虚拟障碍物 

分 类 号：U469.62[机械工程—车辆工程] TP242[交通运输工程—载运工具运用工程] TP18[交通运输工程—道路与铁道工程]